#ifndef __BRINGUP_H
#define __BRINGUP_H

#include "ros/ros.h"
#include "ros/time.h"
#include <sensor_msgs/Imu.h>

#include <iostream>
#include <math.h>
#include <string.h>

#include <tf/transform_broadcaster.h>
#include <sensor_msgs/Imu.h>
#include <serial/serial.h>
using namespace std;


class bringup
{
    public:
        bringup();
        ~bringup();
        void loop();
    
    private:


        serial::Serial ser;  //实例化串口
        void pub_IMU_1();    //打包发送IMU数据  
        ros::Publisher IMU_1;//向master中发布IMU_1的信息
};


#endif
